Multiple model adaptive control for a class of nonlinear systems with unknown control directions

ABSTRACT This study introduces an improved multiple model adaptive control (MMAC) algorithm for a class of nonlinear discrete-time systems. The controller consists of a linear direct adaptive controller, a neural network-based nonlinear direct adaptive controller and a switching mechanism. The assumption of the nonlinear term is relaxed by incorporating a parameter estimator with an augmented error. The control direction of the system is not required to be known by employing a linear direct adaptive controller with the discrete Nussbaum gain and future output predictions. The stability of the closed-loop systems applying the proposed MMAC method is proved and the improved transient performance of the system is illustrated by the simulation results.

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